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 * 1. Redistributions of source code must retain the above copyright
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/**
 * Wrapper class for Ekf object to set behavior or check status
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include <memory>
#include "EKF/ekf.h"
#include "EKF/estimator_interface.h"

class EkfWrapper
{
public:
	EkfWrapper(std::shared_ptr<Ekf> ekf);
	~EkfWrapper();


	void setBaroHeight();
	bool isIntendingBaroHeightFusion() const;

	void setGpsHeight();
	bool isIntendingGpsHeightFusion() const;

	void setRangeHeight();
	bool isIntendingRangeHeightFusion() const;

	void setVisionHeight();
	bool isIntendingVisionHeightFusion() const;

	void enableGpsFusion();
	void disableGpsFusion();
	bool isIntendingGpsFusion() const;

	void enableFlowFusion();
	void disableFlowFusion();
	bool isIntendingFlowFusion() const;

	void enableExternalVisionPositionFusion();
	void disableExternalVisionPositionFusion();
	bool isIntendingExternalVisionPositionFusion() const;

	void enableExternalVisionVelocityFusion();
	void disableExternalVisionVelocityFusion();
	bool isIntendingExternalVisionVelocityFusion() const;

	void enableExternalVisionHeadingFusion();
	void disableExternalVisionHeadingFusion();
	bool isIntendingExternalVisionHeadingFusion() const;

	void enableExternalVisionAlignment();
	void disableExternalVisionAlignment();

	bool isWindVelocityEstimated() const;

	Vector3f getPosition() const;
	Vector3f getVelocity() const;
	Vector3f getAccelBias() const;
	Vector3f getGyroBias() const;
	Quatf getQuaternion() const;
	Eulerf getEulerAngles() const;
	matrix::Vector<float, 24> getState() const;
	matrix::Vector<float, 4> getQuaternionVariance() const;
	Vector3f getPositionVariance() const;
	Vector3f getVelocityVariance() const;
	Vector2f getWindVelocity() const;

	Quatf getVisionAlignmentQuaternion() const;

private:
	std::shared_ptr<Ekf> _ekf;

	// Pointer to Ekf internal param struct
	parameters* _ekf_params;

};